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fix: PWM gimbals initialisation and inversion (#3745)

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* fix: PWM gimbals initialisation and inversion

* feat: add periph clock support in PWM stick driver
This commit is contained in:
Raphael Coeffic
2023-07-14 14:54:32 +10:00
committed by GitHub
parent c5aa250dd9
commit 1bb27e7011
17 changed files with 282 additions and 144 deletions
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radio/src/targets/common/arm/stm32/stm32_pulse_driver.cpp
+3 -32
View File
@@ -20,6 +20,7 @@
*/
#include "stm32_pulse_driver.h"
#include "stm32_timer.h"
#include "stm32_dma.h"
#include "definitions.h"
@@ -34,21 +35,6 @@
// - DMA IRQ prio configurable (now 7)
// - Timer IRQ prio configurable (now 7)
static void enable_tim_clock(TIM_TypeDef* TIMx)
{
if (TIMx == TIM1) {
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
} else if (TIMx == TIM2) {
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
} else if (TIMx == TIM3) {
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
} else if (TIMx == TIM4) {
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
} else if (TIMx == TIM8) {
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM8);
}
}
void stm32_pulse_init(const stm32_pulse_timer_t* tim, uint32_t freq)
{
if (tim->DMA_TC_CallbackPtr) {
@@ -72,7 +58,7 @@ void stm32_pulse_init(const stm32_pulse_timer_t* tim, uint32_t freq)
timInit.Prescaler = __LL_TIM_CALC_PSC(tim->TIM_Freq, freq);
timInit.Autoreload = STM32_DEFAULT_TIMER_AUTORELOAD;
enable_tim_clock(tim->TIMx);
stm32_timer_enable_clock(tim->TIMx);
LL_TIM_Init(tim->TIMx, &timInit);
if (tim->DMAx) {
@@ -86,21 +72,6 @@ void stm32_pulse_init(const stm32_pulse_timer_t* tim, uint32_t freq)
NVIC_SetPriority(tim->TIM_IRQn, 7);
}
static void disable_tim_clock(TIM_TypeDef* TIMx)
{
if (TIMx == TIM1) {
LL_APB2_GRP1_DisableClock(LL_APB2_GRP1_PERIPH_TIM1);
} else if (TIMx == TIM2) {
LL_APB1_GRP1_DisableClock(LL_APB1_GRP1_PERIPH_TIM2);
} else if (TIMx == TIM3) {
LL_APB1_GRP1_DisableClock(LL_APB1_GRP1_PERIPH_TIM3);
} else if (TIMx == TIM4) {
LL_APB1_GRP1_DisableClock(LL_APB1_GRP1_PERIPH_TIM4);
} else if (TIMx == TIM8) {
LL_APB2_GRP1_DisableClock(LL_APB2_GRP1_PERIPH_TIM8);
}
}
void stm32_pulse_deinit(const stm32_pulse_timer_t* tim)
{
// Disable IRQs
@@ -118,7 +89,7 @@ void stm32_pulse_deinit(const stm32_pulse_timer_t* tim)
}
LL_TIM_DeInit(tim->TIMx);
disable_tim_clock(tim->TIMx);
stm32_timer_disable_clock(tim->TIMx);
// Reconfigure pin as input
LL_GPIO_InitTypeDef pinInit;